CN108196552B - GPS visual navigation system of intelligent trolley - Google Patents
GPS visual navigation system of intelligent trolley Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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Abstract
The invention discloses a GPS (global positioning system) visual navigation system of an intelligent trolley, which comprises an AGV vehicle-mounted subsystem, a GPS visual navigation server, two-dimensional code identifications arranged on each driving section of the AGV trolley, and colored paper tape guide strips arranged on each driving section of the AGV trolley; the AGV vehicle-mounted subsystem comprises a GPS positioning module, a two-dimensional code scanner, an image acquisition module, a distance measurement sensor, an ARM processor, a vehicle-mounted communication module, an AGV general controller and an AGV driving device. The invention formulates a transportation route from the AGV to the transportation destination through the GPS visual navigation server, guides the vehicle to run based on the two-dimensional code identification and the colored paper tape guide strip of each running road section in the transportation process, and has the advantages of simple path setting, convenient maintenance and line changing and no external electromagnetic interference.
Description
Technical Field
The invention relates to an AGV trolley, in particular to a GPS visual navigation system of an intelligent trolley.
Background
An Automated Guided Vehicle (AGV), also commonly referred to as an AGV cart, is a transport Vehicle equipped with an electromagnetic or optical automatic guide device, capable of traveling along a predetermined guide path, having safety protection and various transfer functions, and in industrial applications, an ACV cart does not require a driver, and uses a rechargeable battery as its power source. Compared with other common equipment in material conveying, the AGV has no need of laying a track, a supporting seat frame and other fixing devices in an active area, and is not limited by a field, a road and a space; therefore, the automation and flexibility of the automatic logistics system can be fully embodied, and efficient, economical and flexible unmanned production is realized.
In practical applications, most AGV carts use electromagnetic path-following system (electromagnetic path-following system) to set their travel routes, and the AGV carts follow the information from the electromagnetic path to move and operate, but the electromagnetic path is complicated to lay, high in cost, inconvenient to maintain and change lines, and easily affected by external electromagnetic field interference.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a GPS visual navigation system of an intelligent trolley, a transportation route from the AGV to a transportation destination is established through a GPS visual navigation server, and the running of the vehicle is guided based on two-dimensional code marks and colored paper tape guide strips of each running road section in the transportation process, so that the GPS visual navigation system has the advantages of simple route setting, convenience in maintenance and line changing and no external electromagnetic interference.
The purpose of the invention is realized by the following technical scheme: a GPS visual navigation system of an intelligent trolley comprises an AGV vehicle-mounted subsystem, a GPS visual navigation server, two-dimensional code identifications arranged on each running section of the AGV trolley, and colored paper tape guide strips arranged on each running section of the AGV trolley;
the GPS visual navigation server is used for storing GPS positioning information and section numbers of all AGV trolley traveling sections in a transportation area, formulating a transportation route to the shortest transportation destination according to the GPS positioning information and transportation destination information uploaded by the AGV vehicle-mounted subsystem in real time, and issuing the transportation route to the AGV vehicle-mounted subsystem, wherein the transportation route comprises the number and the sequence of the traveling sections to be passed by the AGV trolley in the transportation process;
the AGV vehicle-mounted subsystem is used for acquiring real-time GPS positioning information of an AGV, uploading the real-time GPS positioning information and the transport destination information to a GPS visual navigation server, identifying the serial number of a road section to be entered at the junction of the driving road sections by scanning the two-dimensional code identification of each driving road section, and moving to the transport destination according to a formulated transport route; and in each running section, collecting image information of the colored paper tape guide strip for processing, identifying the relative position relationship between the AGV and the colored paper tape guide strip, and controlling the AGV to advance according to the road indicated by the colored paper tape guide strip.
The two-dimensional code mark is arranged at the starting point and the ending point of the corresponding running road section and comprises the number information of the running road section.
The GPS visual navigation server comprises: the server communication module is used for establishing communication interconnection with the AGV vehicle-mounted subsystem; the storage module is used for storing the GPS positioning information and the road section numbers of all the AGV trolley driving road sections in the transportation area; and the route formulating module is used for formulating the transport route from the AGV to the shortest transport destination according to the information stored in the storage module after receiving the real-time GPS positioning information and the transport destination information of the AGV, and issuing the transport route to the AGV vehicle-mounted subsystem. The AGV vehicle-mounted subsystem comprises a GPS positioning module, a two-dimensional code scanner, an image acquisition module, a distance measurement sensor, an ARM processor, a vehicle-mounted communication module, an AGV general controller and an AGV driving device; the output ends of the GPS positioning module, the two-dimensional code scanner, the image acquisition module and the distance measurement sensor are all connected with an ARM processor, and the output end of the ARM processor is connected with an AGV driving device through an AGV general controller; the ARM processor is also connected with the GPS visual navigation server through the vehicle-mounted communication module.
The ARM processor comprises: the service request module is used for uploading the real-time positioning information acquired by the GPS positioning module and the transportation destination information to the GPS visual navigation server together and requesting the visual navigation server to make a transportation route; the road section selection module is used for identifying the serial number of a road section to be entered according to the two-dimensional code identification information scanned by the two-dimensional code scanner at the junction of the driving road section and driving the road section to a transportation destination according to the formulated transportation route; and the visual guidance control module is used for acquiring image information of the colored paper tape guide strip in each running road section for processing, identifying the relative position relation between the AGV and the colored paper tape guide strip, and controlling the AGV to advance according to the road indicated by the colored paper tape guide strip.
The vision guidance control module comprises: the image processing unit is used for carrying out noise reduction processing on the colored paper tape guide strip image information acquired by the image acquisition module; the edge detection unit is used for carrying out edge detection processing on the denoised image to acquire edge profile information of a road; the road body extraction unit is used for extracting a road body boundary from the edge profile information so as to distinguish a road region from a non-road region and determine a relative position relationship between the road region and the AGV; and the advancing control unit is used for sending a control instruction to the AGV general controller according to the relative position relation between the road area and the AGV, and controlling the AGV to advance according to the road area indicated by the colored paper tape guide strip image information.
The visual guidance control module further comprises: and the collision avoidance control unit is used for controlling the AGV to accelerate, decelerate or change the direction according to the distance information of the obstacle acquired by the distance measuring sensor so as to prevent the AGV from colliding with the obstacle.
The invention has the beneficial effects that: the invention formulates a transportation route from the AGV to the transportation destination through the GPS visual navigation server, guides the vehicle to run based on the two-dimensional code identification and the colored paper tape guide strip of each running road section in the transportation process, and has the advantages of simple path setting, convenient maintenance and line changing and no external electromagnetic interference.
Drawings
FIG. 1 is a schematic block diagram of the system of the present invention.
Detailed Description
The technical solutions of the present invention are further described in detail below with reference to the accompanying drawings, but the scope of the present invention is not limited to the following.
As shown in fig. 1, a GPS visual navigation system of an intelligent car includes an AGV on-board subsystem, a GPS visual navigation server, two-dimensional code identifiers disposed on each traveling section of the AGV, and colored paper tape guide bars disposed on each traveling section of the AGV;
the GPS visual navigation server is used for storing GPS positioning information and section numbers of all AGV trolley traveling sections in a transportation area, formulating a transportation route to the shortest transportation destination according to the GPS positioning information and transportation destination information uploaded by the AGV vehicle-mounted subsystem in real time, and issuing the transportation route to the AGV vehicle-mounted subsystem, wherein the transportation route comprises the number and the sequence of the traveling sections to be passed by the AGV trolley in the transportation process;
the AGV vehicle-mounted subsystem is used for acquiring real-time GPS positioning information of an AGV, uploading the real-time GPS positioning information and the transport destination information to a GPS visual navigation server, identifying the serial number of a road section to be entered at the junction of the driving road sections by scanning the two-dimensional code identification of each driving road section, and moving to the transport destination according to a formulated transport route; and in each running section, collecting image information of the colored paper tape guide strip for processing, identifying the relative position relationship between the AGV and the colored paper tape guide strip, and controlling the AGV to advance according to the road indicated by the colored paper tape guide strip.
The two-dimensional code mark is arranged at the starting point and the ending point of the corresponding running road section and comprises the number information of the running road section.
The GPS visual navigation server comprises: the server communication module is used for establishing communication interconnection with the AGV vehicle-mounted subsystem; the storage module is used for storing the GPS positioning information and the road section numbers of all the AGV trolley driving road sections in the transportation area, and in the embodiment of the application, the GPS positioning information and the road section numbers of all the AGV trolley driving road sections in the transportation area are stored in a topological graph mode; and the route formulating module is used for formulating the transport route from the AGV to the shortest transport destination according to the information stored in the storage module after receiving the real-time GPS positioning information and the transport destination information of the AGV, and issuing the transport route to the AGV vehicle-mounted subsystem. The AGV vehicle-mounted subsystem comprises a GPS positioning module, a two-dimensional code scanner, an image acquisition module, a distance measurement sensor, an ARM processor, a vehicle-mounted communication module, an AGV general controller and an AGV driving device; the output ends of the GPS positioning module, the two-dimensional code scanner, the image acquisition module and the distance measurement sensor are all connected with an ARM processor, and the output end of the ARM processor is connected with an AGV driving device through an AGV general controller; the ARM processor is also connected with the GPS visual navigation server through the vehicle-mounted communication module.
The ARM processor comprises: the service request module is used for uploading the real-time positioning information acquired by the GPS positioning module and the transportation destination information to the GPS visual navigation server together and requesting the visual navigation server to make a transportation route; the road section selection module is used for identifying the serial number of a road section to be entered according to the two-dimensional code identification information scanned by the two-dimensional code scanner at the junction of the driving road section and driving the road section to a transportation destination according to the formulated transportation route; and the visual guidance control module is used for acquiring image information of the colored paper tape guide strip in each running road section for processing, identifying the relative position relation between the AGV and the colored paper tape guide strip, and controlling the AGV to advance according to the road indicated by the colored paper tape guide strip.
The vision guidance control module comprises: the image processing unit is used for carrying out noise reduction processing on the colored paper tape guide strip image information acquired by the image acquisition module; the edge detection unit is used for carrying out edge detection processing on the denoised image to acquire edge profile information of a road; the road body extraction unit is used for extracting a road body boundary from the edge profile information so as to distinguish a road region from a non-road region and determine a relative position relationship between the road region and the AGV; and the advancing control unit is used for sending a control instruction to the AGV general controller according to the relative position relation between the road area and the AGV, and controlling the AGV to advance according to the road area indicated by the colored paper tape guide strip image information.
The visual guidance control module further comprises: and the collision avoidance control unit is used for controlling the AGV to accelerate, decelerate or change the direction according to the distance information of the obstacle acquired by the distance measuring sensor so as to prevent the AGV from colliding with the obstacle.
The working principle of the invention is as follows: firstly, arranging two-dimensional code identifications of all driving sections of the AGV in a transportation area, arranging colored paper tape guide strips for all driving sections of the AGV, and registering and storing GPS positioning information and section numbers of all driving sections of the AGV in the transportation area in a GPS visual navigation server; when the AGV car carries out a transportation task, the AGV car-mounted subsystem collects current GPS positioning information of the AGV car, and the current GPS positioning information and the transportation destination information are uploaded to a GPS visual navigation server together, and the GPS visual navigation server formulates the shortest transportation route of the AGV car according to the GPS positioning information and the road section numbers of all running road sections and sends the shortest transportation route to the AGV car-mounted subsystem; the AGV vehicle-mounted subsystem can identify the number of a road section to enter according to the two-dimensional code identification information scanned by the two-dimensional code scanner at the junction of the running road sections, when a fork exists, the road section selection is realized according to the road section number in the transportation route, then the transport destination can be reached according to the formulated transportation route, in each running road section, the image information of the colored paper tape guide strip is collected for processing, the relative position relation between the AGV trolley and the colored paper tape guide strip is identified, and the AGV trolley is controlled to advance according to the road indicated by the colored paper tape guide strip; in the transportation process, the vehicle is guided based on the two-dimension code identification and the colored paper tape guide strip of each running road section, so that the method has the advantage of simple path setting, when the path needs to be changed, the two-dimension code identification and the colored paper tape guide strip only need to be adjusted, and the GPS positioning information and the road section number of the running road section are updated in the GPS visual navigation server, so that the route changing is convenient to maintain, and meanwhile, compared with an electromagnetic guide rail guiding mode, the method has the advantage of being free from external electromagnetic interference.
Claims (4)
1. The utility model provides a GPS vision navigation of intelligence dolly which characterized in that: the system comprises an AGV vehicle-mounted subsystem, a GPS visual navigation server, two-dimensional code identifications arranged on each running section of the AGV trolley, and colored paper tape guide bars arranged on each running section of the AGV trolley; the two-dimensional code identification is arranged at the starting point and the end point of the corresponding running road section and comprises the number information of the running road section;
the GPS visual navigation server is used for storing GPS positioning information and section numbers of all AGV trolley traveling sections in a transportation area, formulating a transportation route to the shortest transportation destination according to the GPS positioning information and transportation destination information uploaded by the AGV vehicle-mounted subsystem in real time, and issuing the transportation route to the AGV vehicle-mounted subsystem, wherein the transportation route comprises the number and the sequence of the traveling sections to be passed by the AGV trolley in the transportation process;
the AGV vehicle-mounted subsystem is used for acquiring real-time GPS positioning information of an AGV, uploading the real-time GPS positioning information and the transport destination information to a GPS visual navigation server, identifying the serial number of a road section to be entered at the junction of the driving road sections by scanning the two-dimensional code identification of each driving road section, and moving to the transport destination according to a formulated transport route; in each driving road section, collecting image information of the colored paper tape guide strip for processing, identifying the relative position relation between the AGV and the colored paper tape guide strip, and controlling the AGV to advance according to the road indicated by the colored paper tape guide strip;
the AGV vehicle-mounted subsystem comprises a GPS positioning module, a two-dimensional code scanner, an image acquisition module, a distance measurement sensor, an ARM processor, a vehicle-mounted communication module, an AGV general controller and an AGV driving device; the output ends of the GPS positioning module, the two-dimensional code scanner, the image acquisition module and the distance measurement sensor are all connected with an ARM processor, and the output end of the ARM processor is connected with an AGV driving device through an AGV general controller; the ARM processor is also connected with the GPS visual navigation server through a vehicle-mounted communication module;
the ARM processor comprises:
the service request module is used for uploading the real-time positioning information acquired by the GPS positioning module and the transportation destination information to the GPS visual navigation server together and requesting the visual navigation server to make a transportation route;
the road section selection module is used for identifying the serial number of a road section to be entered according to the two-dimensional code identification information scanned by the two-dimensional code scanner at the junction of the driving road section and driving the road section to a transportation destination according to the formulated transportation route;
and the visual guidance control module is used for acquiring image information of the colored paper tape guide strip in each running road section for processing, identifying the relative position relation between the AGV and the colored paper tape guide strip, and controlling the AGV to advance according to the road indicated by the colored paper tape guide strip.
2. The GPS visual navigation system of the smart cart according to claim 1, wherein: the GPS visual navigation server comprises:
the server communication module is used for establishing communication interconnection with the AGV vehicle-mounted subsystem;
the storage module is used for storing the GPS positioning information and the road section numbers of all the AGV trolley driving road sections in the transportation area;
and the route formulating module is used for formulating the transport route from the AGV to the shortest transport destination according to the information stored in the storage module after receiving the real-time GPS positioning information and the transport destination information of the AGV, and issuing the transport route to the AGV vehicle-mounted subsystem.
3. The GPS visual navigation system of the smart cart according to claim 1, wherein: the vision guidance control module comprises:
the image processing unit is used for carrying out noise reduction processing on the colored paper tape guide strip image information acquired by the image acquisition module;
the edge detection unit is used for carrying out edge detection processing on the denoised image to acquire edge profile information of a road;
the road body extraction unit is used for extracting a road body boundary from the edge profile information so as to distinguish a road region from a non-road region and determine a relative position relationship between the road region and the AGV;
and the advancing control unit is used for sending a control instruction to the AGV general controller according to the relative position relation between the road area and the AGV, and controlling the AGV to advance according to the road area indicated by the colored paper tape guide strip image information.
4. The GPS visual navigation system of the smart cart according to claim 1, wherein: the visual guidance control module further comprises: and the collision avoidance control unit is used for controlling the AGV to accelerate, decelerate or change the direction according to the distance information of the obstacle acquired by the distance measuring sensor so as to prevent the AGV from colliding with the obstacle.
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